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Nav2 Cartographer localization

asked 2020-06-08 13:03:31 -0500

Chris91 gravatar image

updated 2020-06-08 13:14:42 -0500

Hi again,

I'm using ros2 and cartographer + turlebot3 burger with a kinect camera. I can create 2d and 3d maps. I now want to use nav2 for robot navigation. Because of the kinect camera i don't want to use amcl for the robot pose and use cartographer localization instead. I found this feature request on github describing my problem.

My question is how to archive that. I added the cartographer in localization mode to the navigation launch file of the turtlebot. It is starting and is posting a /map. But what must be adjusted in the nav2_bringup_launch.py launchfile. Remove amcl for sure but what else ?

Edit1: This is working in ROS1 out of the box btw. Because Move_Base is launched with cartographer.

Thanks :)

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answered 2020-06-09 06:16:22 -0500

Chris91 gravatar image

Here is the solution to my own question:

There's a little history in github about this topic. This will also work with other mappings tools like rtabmap i already tested that.

This can be closed as solved.

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Asked: 2020-06-08 13:03:31 -0500

Seen: 702 times

Last updated: Jun 09 '20